#ifndef WIDGET_H
#define WIDGET_H

#include <QWidget>
#include <QTimer>
#include <QNetworkConfigurationManager>
#include <QMessageBox>

#include "manometer/manometer.h"
#include "charts/formcharts.h"

#include "rostopic/rostopic.h"
#include "boocax/boocaxsocket.h"

#include <QtDebug>

namespace Ui {
class Widget;
}

class Widget : public QWidget
{
    Q_OBJECT

public:
    explicit Widget(int argc, char *argv[], QWidget *parent = 0);
    ~Widget();

public slots:
    void timerUpdate(void);
    void batteryUpdate(void);
    void linearXUpdate(void);
    void angularZUpdate(void);
    void angularXUpdate(void);
    void leftrmpUpdate(void);
    void rightrmpUpdate(void);


    //boocax
    void basicStatusUpdate(void);
    void reportPosVelStatusUpdate(void);
    void moveStatusUpdate();
    void locStatusUpdate();

private slots:
    void on_toolButton_settings_clicked();

    void on_toolButton_3_clicked();

    void on_toolButton_clicked();

    void on_toolButton_5_clicked();

private:
    Ui::Widget *ui;
    //ManoMeter *bar_linear;
    //ManoMeter *bar_angular;
    //FormCharts *rpm_charts;
    double _linear;
    double _angular;

    //ros
    ROSTopic *rosTopic;
    //boocax
    BoocaxSocket *boocaxSocket;
};

#endif // WIDGET_H
